Robotic instrument guide integration with an acoustic probe

ABSTRACT

A robotic acoustic probe for application with an interventional device (60). The robotic acoustic probe employs an acoustic probe (20) including a imaging platform (21) having a device insertion port (22) defining a device insertion port entry (23) and device insertion port exit (24), and further including an acoustic transducer array (25) are disposed relative the device insertion port exit (24). The robotic acoustic probe further employs a robotic instrument guide (40) including a base (41) mounted to the imaging platform (21) relative to the device insertion port entry (23), and an end-effector (45) coupled to the base (41) and transitionable between a plurality of poses relative to a remote-center-of-motion (49). The end-effector (45) defines an interventional device axis (48) extending through the device insertion port (22), and the remote-center-of-motion (49) is located on the interventional device axis (48) adjacent the device insertion port exit (24).

CROSS REFERENCE TO RELATED APPLICATIONS

This application is the U.S. National Phase application under 35 U.S.C.§ 371 of International Application No. PCT/EP2018/068315 filed Jul. 5,2018, published as WO 2019/008127 on Jan. 10, 2019, which claims thebenefit of U.S. Provisional Patent Application No. 62/529,634 filed Jul.7, 2017. These applications are hereby incorporated by reference herein.

FIELD OF THE INVENTION

The inventions of the present disclosure generally relate to acousticguidance of a robotically controlled interventional device (e.g.,ultrasound guidance of a robotically controlled needle, introducer,scope, etc.).

The inventions of the present disclosure more particularly relate to anintegration of a robotic instrument guide with an acoustic probe for anenhanced acoustic guidance of a robotically controlled interventionaldevice.

BACKGROUND OF THE INVENTION

In ultrasound-guided percutaneous needle biopsies, targeting challenginglesions may be time consuming. Tight time constrains may bepredominately critical to puncture lesions that are either locateddeeply in the organ or close to the critical anatomical structures, orboth. Such lesions may involve out-of-plane, oblique needle trajectoriesthus challenging a practitioner to demonstrate good hand-eyecoordination as well as imaging skills required to constantly keep theneedle in the field of view. A large-field-of-view ultrasound volumetricimage may be potentially practical for the out-of-plane needletrajectories as well as better understanding of the intra-operativesituation. Furthermore, robotic control of the needle integrated withthe large-field-of view ultrasound may be potentially practice for arevolution about the needle about a skin entry point and/or atranslation of the needle within the skin entry point.

SUMMARY OF THE INVENTION

The inventions of the present disclosure provide for a robotic acousticprobe having a remote center of motion (RCM) locatable at a skin-entrypoint of a patient anatomy for more intuitive and safer interventionalprocedures.

One embodiment of the inventions of the present disclosure is a roboticacoustic probe employing an acoustic probe and a robotic instrumentguide.

The acoustic probe includes an imaging platform having a deviceinsertion port defining a device insertion port entry and deviceinsertion port exit, and further including an acoustic transducer arraydisposed relative to the device insertion port exit (e.g., the acoustictransducer array encircling the device insertion port exit).

The robotic instrument guide includes a base mounted to the imagingplatform relative to the device insertion port entry, and furtherincludes an end-effector coupled to the base and transitionable betweena plurality of instrument poses relative to a remote center of motion.

The end-effector defines an interventional device axis extending throughthe device insertion port, and the remote center of motion is located onthe interventional device axis adjacent the device insertion port exit.

A second embodiment of the inventions of the present disclosure is arobotic acoustic system employing the aforementioned embodiment of therobotic acoustic probe and further employing an robotic instrument guidecontroller for controlling a transitioning of the end-effector betweenthe plurality of instrument poses relative to the remote center ofmotion.

The transitioning of the end-effector between the plurality ofinstrument poses relative to the remote center of motion may include arevolution of the end-effector about the remote center of motion and/ora translation of the end-effector along the interventional device axis.

The robotic instrument guide controller may derive the control of thetransitioning of the end-effector between the plurality of instrumentposes relative to the remote center of motion from an ultrasoundvolumetric imaging of a patient anatomy by the acoustic transducerarray, a modality volumetric imaging of the patient anatomy by animaging modality and/or a position tracking of the robotic instrumentguide within a tracking coordinate system.

A third embodiment of the inventions of the present disclosure is aninterventional method utilizing the aforementioned embodiment of therobotic acoustic probe.

The interventional method involves a positioning of the robotic acousticprobe relative to a skin entry point of a patient anatomy, wherein theremote center of motion coincides with the skin entry port.

Subsequent thereto, the interventional method further involves anultrasound volumetric imaging of the patient anatomy by the acoustictransducer array, and/or a transitioning of the end-effector between theplurality of instrument poses relative to the remote center of motion.

For purposes of describing and claiming the inventions of the presentdisclosure:

(1) terms of the art of the present disclosure including, but notlimited to, “acoustic transducer”, “port”, “pose”, “arms” “arcs”,“revolute joints”, “end-effector” and “volumetric imaging” are to beunderstood as known in the art of the present disclosure and exemplarydescribed in the present disclosure;

(2) the term “acoustic probe” broadly encompasses all acoustic probes,as known in the art of the present disclosure and hereinafter conceived,structurally arranged with an acoustic transducer array positionedrelative to a device insertion port for inserting an interventionaldevice within a patient anatomy;

(3) the term “imaging platform” broadly encompasses any type ofstructure supporting a positioning of the acoustic probe for anultrasound volumetric imaging of an object by the acoustic transducerarray. Examples of an imaging platform include a substrate, a CMUT and aprobe handle

(4) the term “acoustic transducer array” broadly encompasses any type ofarrangement of a plurality of acoustic transducers for an ultrasoundvolumetric imaging of an object within a field of view of the acoustictransducers;

(5) the term “robotic instrument guide” broadly encompasses allinstrument guides, as known in the art of the present disclosure andhereinafter conceived, structurally arranged with two or more revolutejoints having rotational axes that intersect at a remote center ofmotion (RCM);

(6) the term “adjacent” as related to a remote center of motion and adevice insertion port exit broadly encompasses an spatial positioning ofthe remoter center of motion and the device insertion port exit wherebythe remote center of motion may coincide with a skin entry point of apatient anatomy including the remote center of motion being internal tothe device insertion port adjacent the device insertion port, the remotecenter of motion lying within a plane of the device insertion port exitand the remote center of motion being external to the device insertionport adjacent the device insertion port.

(7) the term “interventional device” is to be broadly interpreted asknown in the art of the present disclosure including interventionaldevice known prior to and conceived after the present disclosure.Examples of an interventional device include, but are not limited to,vascular interventional tools (e.g., guidewires, catheters, stentssheaths, balloons, atherectomy catheters, IVUS imaging probes,deployment systems, etc.), endoluminal interventional tools (e.g.,endoscopes, bronchoscopes, etc.) and orthopedic interventional tools(e.g., k-wires and screwdrivers);

(8) the term “interventional imaging system” broadly encompasses allimaging systems, as known in the art of the present disclosure andhereinafter conceived, for pre-operatively and/or intra-operativelyimaging a patient anatomy during an interventional procedure. Examplesof an interventional imaging system include, but is not limited to, astand-alone x-ray imaging system, a mobile x-ray imaging system, anultrasound volumetric imaging system (e.g., TEE, TTE, IVUS, ICE), acomputed tomography (“CT”) imaging system (e.g., a cone beam CT), apositron emission tomography (“PET”) imaging system and a magneticresonance imaging (“MRI”) system;

(9) the term “position tracking system” broadly encompasses all trackingsystems, as known in the art of the present disclosure and hereinafterconceived, for tracking a position (e.g., a location and/or anorientation) of an object within a coordinate space. Examples of aposition measurement system include, but is not limited to, anelectromagnetic (“EM”) measurement system (e.g., the Auora®electromagnetic measurement system), an optical-fiber based measurementsystem (e.g., Fiber-Optic RealShape™ (“FORS”) measurement system), anultrasound measurement system (e.g., an InSitu or image-based USmeasurement system), an optical measurement system (e.g., a Polarisoptical measurement system), a radio frequency identificationmeasurement system and a magnetic measurement system;

(10) the term “controller” broadly encompasses all structuralconfigurations of an application specific main board or an applicationspecific integrated circuit for controlling an application of variousinventive principles of the present disclosure as exemplary described inthe present disclosure. The structural configuration of the controllermay include, but is not limited to, processor(s),computer-usable/computer readable storage medium(s), an operatingsystem, application module(s), peripheral device controller(s),interface(s), bus(es), slot(s) and port(s). A descriptive label as usedherein for a particular controllers of the present disclosuredistinguishes for identification purposes the particular controller asdescribed and claimed herein from other controller(s) without specifyingor implying any additional limitation to the term “controller”;

(11) the term “application module” broadly encompasses a component of ancontroller consisting of an electronic circuit and/or an executableprogram (e.g., executable software and/or firmware stored onnon-transitory computer readable medium(s)) for executing a specificapplication. A descriptive label as used herein for a particularapplication module of the present disclosure distinguishes foridentification purposes the particular application module as describedand claimed herein from other application module(s) without specifyingor implying any additional limitation to the term “application module”;and

(12) the terms “signal”, “data” and “command” broadly encompasses allforms of a detectable physical quantity or impulse (e.g., voltage,current, or magnetic field strength) as understood in the art of thepresent disclosure and as exemplary described in the present disclosurefor transmitting information and/or instructions in support of applyingvarious inventive principles of the present disclosure as subsequentlydescribed in the present disclosure. Signal/data/command communicationbetween various components of the present disclosure may involve anycommunication method as known in the art of the present disclosureincluding, but not limited to, signal/data/commandtransmission/reception over any type of wired or wireless datalink and areading of signal/data/commands uploaded to a computer-usable/computerreadable storage medium. A descriptive label as used herein for aparticular signal/data/command of the present disclosure distinguishesfor identification purposes the particular signal/data/command asdescribed and claimed herein from other signal(s)/data/command(s)without specifying or implying any additional limitation to the term theterms “signal”, “data” and “command”.

The foregoing embodiments and other embodiments of the inventions of thepresent disclosure as well as various features and advantages of theinventions of the present disclosure will become further apparent fromthe following detailed description of various embodiments of theinventions of the present disclosure read in conjunction with theaccompanying drawings. The detailed description and drawings are merelyillustrative of the inventions of the present disclosure rather thanlimiting, the scope of the inventions of the present disclosure beingdefined by the appended claims and equivalents thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an exemplary embodiment of a robotic acoustic systemin accordance with the inventive principle of the present disclosure.

FIGS. 2A-2C illustrates a first exemplary embodiment of an acousticprobe in accordance with the inventive principle of the presentdisclosure.

FIGS. 3A-3C illustrates a first exemplary embodiment of an acousticprobe in accordance with the inventive principle of the presentdisclosure.

FIG. 4 illustrates an exemplary embodiment of a robotic instrument guidein accordance with the inventive principle of the present disclosure.

FIGS. 5A-5E illustrate top views of various poses of the roboticinstrument guide of FIG. 4 in accordance with the inventive principle ofthe present disclosure

FIG. 6 illustrates an ultrasound guided exemplary embodiment of therobotic acoustic system of FIG. 1 in accordance with the inventiveprinciples of the present disclosure.

FIG. 7 illustrates a volume guided exemplary embodiment of the roboticacoustic system of FIG. 1 in accordance with the inventive principles ofthe present disclosure.

FIG. 8 illustrates a position tracking exemplary embodiment of therobotic acoustic system of FIG. 1 in accordance with the inventiveprinciples of the present disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

To facilitate an understanding of the various inventions of the presentdisclosure, the following description of FIGS. 1-6 teaches embodimentsof robotic acoustic probes and robotic acoustic systems in accordancewith the inventive principles of the present disclosure. From thisdescription, those having ordinary skill in the art will appreciate howto practice various and numerous embodiments of robotic acoustic probesand robotic acoustic systems in accordance with the inventive principlesof the present disclosure.

Also from this description, those having ordinary skill in the art willappreciate an incorporation of a robotic acoustic system of the presentdisclosure in numerous and various types of a robotically controlledimage-guided interventions utilizing a robotic acoustic guide of thepresent disclosure.

Examples of such image-guided intervention include, but is not limitedto:

1. image-guided interventional radiology procedures involving elongatedinterventional instruments (e.g., irreversible electroporation of thehepatic lesions, radiofrequency/microwave ablation, face jointinjection, targeting of nerve blocks, percutaneous biopsies, etc.involving biopsy needles, ablation antennas, spinal needles, etc.);

2. interventions against structural heart diseases transapical involvingintroducer devices and closure device for a transapical access (e.g., atricuspid valve-in-ring implantation, a transapical aortic valvereplacement, a transapical transcatheter mitral valve implantation,etc.); and

3. laparoscopic procedures involving mini-laparoscopes, particularly forskin entry points of a diameter of approximately 3.5 mm (e.g.,mini-laparoscopic cholecystectomy, mini-laparoscopic appendectomy,different types of mini-laparoscopic pediatric surgeries, mini-videoassisted thoracic surgery, etc.).

Referring to FIG. 1, a robotic acoustic system 10 of the presentdisclosure employs a robotic acoustic probe including an acoustic probe20 and a robotic instrument guide 40 mounted onto acoustic probe 20.

Acoustic probe 20 has a structurally arrangement of an imaging platform21 having a device insertion port 22 having a device insertion portentry 22 and a device insertion port exit 24 for an insertion of aninterventional device 60 as held by robotic instrument guide 40 along aninstrument device axis 48 extending through device insertion port 22.

As will be further exemplary described in the present disclosure, inoperation, robotic instrument guide 40 is mounted onto acoustic probe20, such as, for example, by an attachment or a coupling of a base 41 ofrobotic instrument guide 40 to imaging platform 21 of acoustic probe 20.The mounting of guide 40 unto probe 20 establishes a location of aremote center of motion 49 of robotic instrument guide 40 alonginstrument device axis 48 adjacent the device insertion port exit 24 tothereby facilitate a coincidental alignment of remote center of motion49 with a skin entry port into a patient anatomy.

In practice, imaging platform 21 and device insertion port 22 may haveany geometrical shape, and imaging platform 21 may be any materialcomposition suitable for any interventional procedure or for particularinterventional procedure(s).

Also in practice, imaging platform 21 may have any configurationsuitable for a mounting of base 41 of robotic instrument guide 40 untoimaging platform 21 as will be further described in the presentdisclosure.

Acoustic probe 20 further has a structurally arrangement of an acoustictransducer array 25 supported by imaging platform 21 and disposedrelative to insertion port exit 23 for executing an ultrasoundvolumetric imaging of any object within a field of view 26 of acoustictransducer array 25. More particularly, as known in the art of thepresent disclosure, an acoustic probe controller 30 of system 10communicates transducer excitation signals 32 to acoustic transducerarray 25 to thereby energize acoustic transducer array 25 to transmitand receive ultrasound waves whereby acoustic probe 20 communicates echodata 33 to acoustic probe controller 30 for a generation of anultrasound volumetric image 31 of any object within field of view 26.

In addition to facilitating a mounting of guide 40 onto probe 20, inpractice, imaging platform 21 is structurally configured to manually orrobotically position acoustic probe 20 for the ultrasound volumetricimaging of a patient anatomy by the acoustic transducer array 25. Forexample, imaging platform 21 may structurally be in the form of asubstrate/CMUT positionable upon the patient anatomy, or a probe handlemanually or robotically held on a patient anatomy.

In practice, acoustic transducer array 25 may include acoustictransceivers, or a subarray of acoustic transmitters and a subarray ofacoustic receivers.

FIGS. 2A-2C illustrates an exemplary embodiment 20 a of acoustic probe20 (FIG. 1). Referring to FIGS. 2A-2C, acoustic probe 20 a includes animaging platform 21 a in the form of a substrate constructed as a dischaving a top surface shown in FIG. 2A and a bottom surface shown in FIG.2C. A device insertion port 22 a passes through imaging platform 21 aand tapers from a circular device insertion point entry 23 a formed onthe top surface of imaging platform 21 a to a circular device insertionport exit 24 a formed on a bottom surface of imaging platform 21 a.

An array 25 a of acoustic transducers are supported on the bottomsurface of imaging platform 21 a and disposed around device insertionport exit 24 a. Acoustic transducer array 25 a may be energized as knownin the art of the present disclosure to transmit and receive ultrasoundwaves within a field of view 26 a of acoustic probe 20 a.

A pair of hooks 27 are provided on a top surface of imaging platform 21a to facilitate a strapping of acoustic probe 20 a around a patient.

Imaging platform 21 a may support a mounting of a robotic instrumentguide 40 (FIG. 1) via unique clips or locks embedded in imaging platform21 a.

FIGS. 3A-3C illustrates a further exemplary embodiment 20 b of acousticprobe 20 (FIG. 1). Referring to FIGS. 3A-3C, acoustic probe 20 b isidentical to acoustic probe 20 a (FIGS. 2A-2C) with the exception adevice insertion port 22 b passing through imaging platform 21 a andtapering from an elongated device insertion point entry 23 b formed onthe top surface of imaging platform 21 a to an elongated deviceinsertion port exit 24 b formed on a bottom surface of imaging platform21 a.

Referring back to FIG. 1, robotic instrument guide 40 has a structuralarrangement of a base 41, two (2) or more arms/arcs 43, (1) one or morerevolute joints 44 and an end-effector 45 for defining RCM 49established by an intersection of rotational axes of revolute joints 44and end-effector 45 as known in the art of the present disclosure.

In practice, the structural arrangement of base 41, arms/arcs 43,revolute joint(s) 44, and end-effector 45 may be suitable for anyinterventional procedure or for particular interventional procedure(s).

Also in practice, base 41 has a structural configuration suitable forattachment to imaging platform 21 of acoustic probe 20 as will beexemplary described in the present disclosure. In one embodiment, base41 may include a vertical translation joint 42 a and/or a horizontaltranslation joint 42 b for respectively vertically and/or horizontallytranslating end-effector 45 relative to device insertion port entry 23of acoustic probe 20 while maintaining instrument device axis 48extending through device insertion port 22 and RCM 49 located on axis 48adjacent device insertion port exit 24.

Further in practice, interventional device(s) 60 include any type ofinterventional device suitable for being held by end-effector 45.Examples of interventional devices 60 include, but are not limited to, abiopsy needle, an ablation antenna, a spinal needle, an introducer andclosure device and a mini-laparoscope. In one embodiment, end-effector45 may therefore have a structural configuration suitable for holdingparticular interventional procedures. In another embodiment, roboticinstrument guide 40 may include numerous changeable instrument deviceadapters 46 with each adapter 46 being structurally configured toaccommodate different types of interventional device(s) 60 wherebyend-effector 45 is reconfigurable to include any one of the adapters 46.

Also in practice, end-effector 45 may include an axis translation joint47 to thereby translated end-effector 45 along instrument device axis 49for controlling a depth of any interventional device 60 being held byend-effector 45 within a patient anatomy prepped for imaging by acousticprobe 20.

Still referring to FIG. 1, as known in the art of the presentdisclosure, a robotic instrument guide controller 50 of system 10receives revolute joint data 52 informative of a pose of end-effector 45within a workspace 51 encircling robotic instrument guide 40 wherebyrobotic instrument guide controller 50 may transition end-effector 45between a plurality of poses within workspace 51.

In practice, one or all revolute joint(s) 44 may be motorized wherebyrobotic instrument guide controller 50 may communicate robotic actuationcommands 53 to the motorized revolute joint(s) 44 for actuating themotorized revolute joint(s) 44 to transition end-effector 45 to adesired pose within workspace 51.

Also in practice, one or all revolute joint(s) 44 may be mechanicalwhereby robotic instrument guide controller 50 may issue roboticactuation data 54 to be displayed whereby an operator may manuallyactuate revolute joint(s) 44 to transition end-effector 45 to a desiredpose within workspace 51.

FIG. 4 illustrates an exemplary robotic instrument guide 40 a employinga base 41 a, a primary revolute joint 44 a rotatable about a rotationaxis 144 a, a secondary revolute joint 44 b rotatable about a rotationaxis 144 b, a support arc 43 a, and an instrument arc 43 b integratedwith an end-effector 45 a having an adapter 46 a for holding aninterventional device (not shown) along instrument device axis 48 a.Support arc 43 a is concentrically connected to revolute joint 44 a andrevolute joint 44 b, and instrument arc 43 b is concentrically connectedto revolute joint 44 b. More particularly,

-   -   1. rotational axes 144 a, 144 b and 48 a intersect at a remote        center of motion 49 a of robotic instrument guide 40 a,    -   2. a base arc length of θ₁ of support arc 43 a extends between        rotation axes 144 a and 144 b,    -   3. an extension arc length θ₂ of instrument arc 43 b extends        between rotation axis 144 a and instrument device axis 48 a,    -   4. an actuator, motorized or mechanical, of primary revolute        joint 44 a may be operated to co-rotate arcs 43 a and 43 b about        rotation axis 144 a for a desired φ₁ degrees to control a broad        movement of end-effector 45 a within a workspace between a        plurality poses (poses P1-P3 shown in FIGS. 5A-5C respectively),        and    -   5. an actuator, motorized or mechanical, of secondary revolute        joint 44 b may be operated to rotate instrument arc 43 b about        rotation axis 144 b for a desired φ₂ degrees to control a        targeted movement of end-effector 45 a within the workspace        between a plurality poses (poses P1, P4 and P5 shown in FIGS.        5A, 5D and 5C respectively)

As shown in FIG. 4, base 41 a may incorporate vertical translation joint42 a (FIG. 1) and/or horizontal translation joint 42 b (FIG. 1) to moveremote center of motion 49 a to a desired position relative to a deviceinsertion port exit of an acoustic probe as previously described herein.Concurrently or alternatively, primary revolute joint 44 a mayincorporate a vertical translation joint and/or a horizontal translationjoint to move remote center of motion 49 a to a desired positionrelative to a device insertion port exit of an acoustic probe.

Referring back to FIG. 1, in one ultrasound guided interventionalprocedure embodiment of system 10, acoustic probe controller 30 androbotic instrument guide controller 50 cooperatively implement a roboticcontrol of an interventional device 60 in view of volume ultrasoundvolumetric imaging by acoustic probe 20.

Generally, in execution of an interventional procedure, acoustic probecontroller 30 generates ultrasound volumetric image data 34 informativeof a volume ultrasound volumetric imaging of a patient anatomy based onecho data 33 received from the acoustic transducer array of acousticprobe 20 via a cable, and communicates ultrasound volumetric image data34 to robotic instrument guide controller 50 whereby controller 50generates robot actuation commands as needed to the revolute joints ofrobotic instrument guide 40 to actuate a motorized transition ofend-effector 45 a of robotic instrument guide 40 to a desired posewithin the workspace, or generates robot actuation data 54 as needed fordisplay to thereby provide information as to actuation of a mechanicaltransition of end-effector 45 of robotic instrument guide 40 to adesired pose within the workspace.

FIG. 6 illustrates an exemplary ultrasound guided interventionalprocedure embodiment 10 a of system 10.

Referring to FIG. 6, a workstation 90 includes an arrangement of amonitor 91, a keyboard 92 and a computer 93 as known in the art of thepresent disclosure.

An acoustic probe controller 30 a and a robotic instrument guidecontroller 50 a and are installed in computer 93, and each controllermay include a processor, a memory, a user interface, a networkinterface, and a storage interconnected via one or more system buses.

The processor may be any hardware device, as known in the art of thepresent disclosure or hereinafter conceived, capable of executinginstructions stored in memory or storage or otherwise processing data.In a non-limiting example, the processor may include a microprocessor,field programmable gate array (FPGA), application-specific integratedcircuit (ASIC), or other similar devices.

The memory may include various memories, as known in the art of thepresent disclosure or hereinafter conceived, including, but not limitedto, L1, L2, or L3 cache or system memory. In a non-limiting example, thememory may include static random access memory (SRAM), dynamic RAM(DRAM), flash memory, read only memory (ROM), or other similar memorydevices.

The user interface may include one or more devices, as known in the artof the present disclosure or hereinafter conceived, for enablingcommunication with a user such as an administrator. In a non-limitingexample, the user interface may include a command line interface orgraphical user interface that may be presented to a remote terminal viathe network interface.

The network interface may include one or more devices, as known in theart of the present disclosure or hereinafter conceived, for enablingcommunication with other hardware devices. In an non-limiting example,the network interface may include a network interface card (NIC)configured to communicate according to the Ethernet protocol.Additionally, the network interface may implement a TCP/IP stack forcommunication according to the TCP/IP protocols. Various alternative oradditional hardware or configurations for the network interface will beapparent.

The storage may include one or more machine-readable storage media, asknown in the art of the present disclosure or hereinafter conceived,including, but not limited to, read-only memory (ROM), random-accessmemory (RAM), magnetic disk storage media, optical storage media,flash-memory devices, or similar storage media. In various non-limitingembodiments, the storage may store instructions for execution by theprocessor or data upon with the processor may operate. For example, thestorage may store a base operating system for controlling various basicoperations of the hardware. The storage may further store one or moreapplication modules in the form of executable software/firmware.

Alternatively, acoustic probe controller 30 a and robotic instrumentguide controller 50 a may be integrated as installed on computer 93.

For this embodiment a first step of the interventional procedure asrelated to robotic acoustic probe of the present disclosure is anattachment of robotic instrument guide 40 a to acoustic probe 20 a inmounting position atop acoustic probe 20 a. The attachment is enabled byunique clips or locks embedded in a substrate casing of acoustic probe20 a and self-adhesive tape. The use of unique clips provides for aposition of robotic instrument guide 40 a in respect to acoustic probe20 a, and therefore a mapping between ultrasound volumetric image spaceand the robotic workspace is known from a calibration of the roboticacoustic probe.

In practice, the calibration of the robotic acoustic probe may performedas known in the art of the present disclosure. For example, after themounting, the following calibration steps may be performed.

First, controller 50 a moves end-effector 45 a holding a pointer tool ton position and acquires an end-effector position T (orientation andtranslation) calculated using forward kinematics.

Second, acoustic probe 20 a is positioned on an ultrasound phantom(e.g., a gelatin medium) (not shown) whereby the tool is inserted intothe ultrasound phantom by a certain depth in respect to previouslyacquired end-effector position T. If guide 40 a provide a degree offreedom to control the insertion depth, the controller 50 a uses theforward kinematics to obtain the tip of the end-effector 45 a.Otherwise, an offset from the final end-effector position (translation)to the tip of the tool must be measured.

Third, controller 30 a acquires position of the tool tip (p) segmentedon an ultrasound volumetric image.

Fourth, the first three (3) steps are repeated, preferably more thanthree (3) iterations for higher accuracy,

Fifth, controller 50 a calculates a registration matrix usingpoint-based registration method as known in the art of the presentdisclosure. The points utilized in the point-based registration include(1) acquired end-effector positions projected by the measured offset andthe tool orientation axis and (2) target points segmented in the USimage tool tip positions. If the insertion depth is actuated, thenend-effector position may be directly utilized in the point-basedregistration.

Still referring to FIG. 5, upon calibration, acoustic probe 20 a with anrobotic instrument guide mounted thereon is positioned on a patientanatomy 100 whereby an acoustic coupling is assured by the practitionerfirmly pushing acoustic probe 20 a towards the patient skin.

Controller 30 a is thereafter operated to control an ultrasoundvolumetric imaging of an organ or other inner structures containing thepoint of interest (e.g., a lesion). From the image, a target location ismanually defined on the volume ultrasound volumetric image (e.g., alesion location) or a target location is automatically segmented fromthe volume ultrasound volumetric image using the methods known in art ofthe present disclosure (e.g., a region-based segmentation, athresholding segmentation, a model-based segmentation or a machinelearning-based segmentation).

As soon as the target location is defined, an entry point of aninterventional tool 60 a (e.g., a needle) is constrained by a design ofRCM 49 a coinciding with the skin-entry point whereby controller 50 aautomatically moves end-effector 45 a using robot kinematics to a posefor achieving a desired trajectory of interventional tool 60 a intopatient anatomy 100.

In one embodiment, controller 50 a may implement a visual servoingtechnique as known in the art of the present disclosure. For example,the target location is user-selected or automatically selected withinthe volume ultrasound volumetric image user and controller 50 a controlsa transition of end-effector 45 a to a pose for achieving a desiredtrajectory of interventional tool 60 a into patient anatomy 100 by usinga visual servoing that controls the pose of end-effector 45 a relativeto image features viewed by the endoscope. The position of theend-effector 45 a in the ultrasound volumetric image space is known bycontroller 50 a from the calibration process previously described above.This approach might be also applied to endoscopic procedures in whichthe laparoscope is hold by the instrument guide and the movement of thetarget on the laparoscopic image updates the position of the endoscope.

For this visual servoing, as the target location moves due torespiratory motion, controller 50 a is able to adjust the pose of theend-effector by following the image features.

In another embodiment, the interventional procedure may require multipledevice trajectories (e.g., radio-frequency ablation or irreversibleelectroporation may require multiple needle trajectories). Suchprocedures may be accomplished exclusive with volume ultrasoundvolumetric images, which are created for instance by stitching severalsingle ultrasound volumes as known in the art of the present disclosure(e.g., a motorized sweeping of acoustic probe 20 a over an imaging sceneof patient anatomy 100. This may be achieved by tracking acoustic probe20 a by an external tracking device, or by using image-basedregistration methods as known in the art of the present disclosure.

More particularly, acoustic probe 20 a is swept over a region ofinterest to thereby acquire several volume ultrasound volumetric imagesof the region of interest.

Next, controller 30 a creates a compound image via an image-based imagestitching of the volume ultrasound volumetric images as known in the artof the present disclosure.

Third, controller 30 a controls a user defining of multiple trajectorieson the compound image via monitor 91 as known in the art of the presentdisclosure. The user may also define objects to be avoided via thetrajectories (e.g., ribs and vessels).

Fourth, acoustic probe 20 a with guide 40 a mounted thereto is movedover the same region of interest. This intraoperative volume ultrasoundvolumetric image is then registered by controller 50 a to the compoundimage using a registration technique as known in the art of the presentdisclosure (e.g., a mutual-information-based registration).

As soon as acoustic probe 20 a is positioned in a vicinity of one of thedefined targets, controller 50 a automatically adjusts an orientation ofdevice 60 a via an actuated movement of guide 40 a (on-line adjustment).

Referring back to FIG. 1, in a second interventional procedureembodiment of system 10, acoustic probe controller 30, roboticinstrument guide controller 50 and an imaging modality controller 72 ofinterventional imaging system 70 cooperatively implement a roboticcontrol of an interventional device 60 in view of volume imagesgenerated by acoustic probe 20 a and an imaging modality 71.

In practice, imaging modality 71 may be any imaging device of astand-alone x-ray imaging system, a mobile x-ray imaging system, anultrasound volumetric imaging system (e.g., TEE, TTE, IVUS, ICE), acomputed tomography (“CT”) imaging system (e.g., a cone beam CT), apositron emission tomography (“PET”) imaging system and a magneticresonance imaging (“MRI”) system.

Generally, in execution of an interventional procedure, acoustic probecontroller 30 generates ultrasound volumetric image data 34 informativeof a volume ultrasound volumetric imaging of a patient anatomy based onecho signals 33 received from the acoustic transducer array of acousticprobe 20 via a cable, and communicates ultrasound volumetric image data34 to robotic instrument guide controller 50. Concurrently, imagingmodality controller 72 generates modality volumetric image data 73informative of a modality volumetric imaging of a patient anatomy by theimaging modality 71 (e.g., X-ray, CT, PECT, MRI, etc.) and communicatesmodality volumetric image data 73 to robotic instrument guide controller50. In response to the both data 34 and 73, controller 50 a registersthe ultrasound volumetric image (e.g., a single volume of a compoundstitched volume) to the modality volumetric image by executing animage-based registration as known in the art of the present disclosure.

From the image registration, controller 50 generates robot actuationcommands 53 as needed to the revolute joints 44 of robotic instrumentguide 40 to actuate a motorized transition of end-effector 45 of roboticinstrument guide 40 to a desired pose within the workspace, or generatesrobot actuation data 54 as needed for display to thereby provideinformation as to actuation of a mechanical transition of end-effector45 of robotic instrument guide 40 to a desired pose within the workspace51.

FIG. 7 illustrates an exemplary image modality guided interventionalprocedure embodiment 10 b of system 10.

For this embodiment 10 b, the imaging modality is an X-ray system andthe revolute joints of robotic instrument guide 40 a are mechanical, notmotorized, whereby the motors are replaced by a locking mechanism (e.g.a clamp). When the locking mechanism is loosen, the arcs of guide 40 amay be freely rotated as desired and the orientation of the end-effector45 a may therefore be adjusted. When the locking mechanism is tightened,the arcs of guide 40 a are immobilized and device 60 a being held byend-effector 45 a is locked in a desired orientation. A feedback to apractitioner is provided from a robotic instrument guide 40 a -to-CTimage registration.

In one embodiment, the registration is performed using three (3) or moreradio-opaque markers embedded in the non-movable base of guide 40 a andincludes the following steps.

First, guide 40 a, individually or as mounted on acoustic probe 20 a, isattached on to patient anatomy 100 via self-adhesive tape or any otherattachment mechanism.

Second, a volumetric CBCT image of guide 40 a as attached patientanatomy 100 is acquired by the X-ray system, and controller 72communicates modality volumetric imaging data 73 informative of thevolumetric CBCT image to controller 50 c.

Third, controller 50 c detects as least three (3) of the radio-opaquemarkers embedded in the non-movable base of guide 40 a within the CBCTimage to thereby identify a position of guide 40 a in six (5) degree offreedom with respect to the patient anatomy 100 using a registrationtechnique as known in the art of the present disclosure (e.g., a rigidpoint-based registration).

Fourth, controller 50 c plans a trajectory of device 60 a within patientanatomy 100 (e.g., a needle trajectory).

Fifth, controller 50 a controls displayed feedback 94 on monitor 90 viaan interface informative of required rotation angles on each joint inorder to reach the desired device trajectory. The locking mechanismincorporates a scale to thereby assist the user in setting correctrotation angles of the arcs of guide 40 a.

Finally, two (2) 2D fluoroscopy images of the same radio-opaque markersare acquired by the X-ray system and communicated to controller 50 c,which registers the volumetric CBCT image to the 2D fluoroscopy imagesby determining a projection matrix for merging the 2D fluoroscopicimages and volumetric CBCT image dependent on reference positions of thebase of guide 40 a via the markers to thereby merge said 2D fluoroscopicimages with said preoperative 3D image using said projection matrix asknown in the art of the present disclosure.

Referring back to FIG. 1, in a third interventional procedure embodimentof system 10, acoustic probe controller 30, robotic instrument guidecontroller 50 and a position tracking controller 80 of a positiontracking system 80 cooperatively implement a robotic control of aninterventional device 60 in view of a tracking of robotic instrumentguide 40 by position tracking elements 81 of position tracking system80.

In practice, position tracking elements 81 may include, but not belimited to, three (3) or more retro-reflective spheres, dots,electromagnetic sensors or lines, or optical fibers, etc. located onbase 41 of guide 40 whereby a three-dimensional position of targetfeature may be calculated using triangulation techniques as known in theart.

FIG. 8 illustrates an exemplary position tracking guided interventionalprocedure embodiment 10 c of system 10.

For this embodiment 10 c, position tracking controller 82 communicatesposition tracking data 83 informative of any tracked position of a baseof guide 40 a to robotic instrument guide controller 50 d. In support ofthe interventional procedure, a calibration of the volume ultrasoundvolumetric image must be performed to facilitate subsequent tracking ofthe volume ultrasound volumetric image.

In one embodiment, particularly for an optical, electromagnetic or fibertracking as guide trackers attached to the base of guider 40 a, thecalibration may be performed intraoperatively based on a position ofeach instrument guide tracker (^(guide)T_(tracker)) is known from themanufacturing process. The calibration matrix is calculated as inaccordance with^(guide)T_(image)=^(guide)T_(tracker)·(^(image)T_(tracker))−¹, where^(image)T_(tracker) is calculated from features illustrated in thevolume ultrasound volumetric image as known in the art of the presentdisclosure.

Referring to FIGS. 6-8, knowing an insertion depth on device 60 a may bebeneficial. In one embodiment, robotic instrument guide 40 a has a3^(rd) degree of freedom located at the end-effector as previouslydescribed within an axis translation joint 48 a. This additional DOFcontrols the insertion depth of the needle and may be measured using anoptical encoder embedded into the end-effector. Such an optical encodercan report the insertion depth with a sub-millimeter resolution.

In addition, having control over the insertion depth, an automaticinstrument insertion using real-time image-based feedback may beperformed. For example, ultrasound volumetric images and/or X-rayfluoroscopic images may be used to monitor the changes in the positionof the target due to a breathing motion of patient anatomy 100 aspreviously described herein whereby device 60 a (e.g., a needle) may be“shot” into patient anatomy in sync with a desired respiratory cycle.

Referring to FIGS. 1-8, those having ordinary skill in the art willappreciate numerous benefits of the present disclosure including, butnot limited to, a robotic acoustic probe having a remote center ofmotion (RCM) locatable at a skin-entry point of a patient anatomy formore intuitive and safer interventional procedures

Furthermore, as one having ordinary skill in the art will appreciate inview of the teachings provided herein, features, elements, components,etc. described in the present disclosure/specification and/or depictedin the Figures may be implemented in various combinations of electroniccomponents/circuitry, hardware, executable software and executablefirmware and provide functions which may be combined in a single elementor multiple elements. For example, the functions of the variousfeatures, elements, components, etc. shown/illustrated/depicted in theFigures can be provided through the use of dedicated hardware as well ashardware capable of executing software in association with appropriatesoftware. When provided by a processor, the functions can be provided bya single dedicated processor, by a single shared processor, or by aplurality of individual processors, some of which can be shared and/ormultiplexed. Moreover, explicit use of the term “processor” should notbe construed to refer exclusively to hardware capable of executingsoftware, and can implicitly include, without limitation, digital signalprocessor (“DSP”) hardware, memory (e.g., read only memory (“ROM”) forstoring software, random access memory (“RAM”), non-volatile storage,etc.) and virtually any means and/or machine (including hardware,software, firmware, circuitry, combinations thereof, etc.) which iscapable of (and/or configurable) to perform and/or control a process.

Moreover, all statements herein reciting principles, aspects, andembodiments of the invention, as well as specific examples thereof, areintended to encompass both structural and functional equivalents thereofAdditionally, it is intended that such equivalents include bothcurrently known equivalents as well as equivalents developed in thefuture (e.g., any elements developed that can perform the same orsubstantially similar function, regardless of structure). Thus, forexample, it will be appreciated by one having ordinary skill in the artin view of the teachings provided herein that any block diagramspresented herein can represent conceptual views of illustrative systemcomponents and/or circuitry embodying the principles of the invention.Similarly, one having ordinary skill in the art should appreciate inview of the teachings provided herein that any flow charts, flowdiagrams and the like can represent various processes which can besubstantially represented in computer readable storage media and soexecuted by a computer, processor or other device with processingcapabilities, whether or not such computer or processor is explicitlyshown.

Furthermore, exemplary embodiments of the present disclosure can takethe form of a computer program product or application module accessiblefrom a computer-usable and/or computer-readable storage medium providingprogram code and/or instructions for use by or in connection with, e.g.,a computer or any instruction execution system. In accordance with thepresent disclosure, a computer-usable or computer readable storagemedium can be any apparatus that can, e.g., include, store, communicate,propagate or transport the program for use by or in connection with theinstruction execution system, apparatus or device. Such exemplary mediumcan be, e.g., an electronic, magnetic, optical, electromagnetic,infrared or semiconductor system (or apparatus or device) or apropagation medium. Examples of a computer-readable medium include,e.g., a semiconductor or solid state memory, magnetic tape, a removablecomputer diskette, a random access memory (RAM), a read-only memory(ROM), flash (drive), a rigid magnetic disk and an optical disk. Currentexamples of optical disks include compact disk—read only memory(CD-ROM), compact disk—read/write (CD-R/W) and DVD. Further, it shouldbe understood that any new computer-readable medium which may hereafterbe developed should also be considered as computer-readable medium asmay be used or referred to in accordance with exemplary embodiments ofthe present disclosure and disclosure.

Having described preferred and exemplary embodiments of novel andinventive robotic acoustic probes and systems, (which embodiments areintended to be illustrative and not limiting), it is noted thatmodifications and variations can be made by persons having ordinaryskill in the art in light of the teachings provided herein, includingthe Figures. It is therefore to be understood that changes can be madein/to the preferred and exemplary embodiments of the present disclosurewhich are within the scope of the embodiments disclosed herein.

Moreover, it is contemplated that corresponding and/or related systemsincorporating and/or implementing the device or such as may beused/implemented in a device in accordance with the present disclosureare also contemplated and considered to be within the scope of thepresent disclosure. Further, corresponding and/or related method formanufacturing and/or using a device and/or system in accordance with thepresent disclosure are also contemplated and considered to be within thescope of the present disclosure.

1. A robotic acoustic probe for application with an interventionaldevice, the robotic acoustic probe comprising: an acoustic probeincluding an imaging platform having a device insertion port defining adevice insertion port entry and device insertion port exit, and anacoustic transducer array supported by the imaging platform and disposedrelative to the device insertion port exit; and a robotic instrumentguide including a base mounted to the imaging platform relative to thedevice insertion port entry, and an end-effector coupled to the base andtransitionable between a plurality of poses relative to aremote-center-of-motion, wherein the end-effector defines aninterventional device axis extending through the device insertion port,and wherein the remote-center-of-motion is located on the interventionaldevice axis adjacent the device insertion port exit.
 2. The roboticacoustic probe of claim 1, wherein the device insertion point is locatedin a center of the imaging platform.
 3. The robotic acoustic probe ofclaim 1, wherein the imaging platform has a shape of a compact disc. 4.The robotic acoustic probe of claim 1, wherein the device insertion porttapers from the device insertion port entry to the device insertion portexit.
 5. The robotic acoustic probe of claim 1, wherein the baseincludes at least one translation joint to translate theremote-center-of-motion within a confined space adjacent the deviceinsertion port exit.
 6. The robotic acoustic probe of claim 1, whereinthe robotic instrument guide includes: a support arc; a primary revolutejoint coupling the support arc to the base; an instrument arc, whereinthe end-effector is integrated with the instrument arc; and a secondaryrevolute joint coupling the instrument arc to the support arc.
 7. Therobotic acoustic probe of claim 6, wherein the primary revolute jointincludes a primary motorized actuator; and wherein the second revolutejoint includes a secondary motorized actuator.
 8. The robotic acousticprobe of claim 6, wherein the primary revolute joint includes a primarymechanical actuator; and wherein the second revolute joint includes asecondary mechanical actuator.
 9. The robotic acoustic probe of claim 1,wherein the end-effector includes an interventional device adapter. 10.The robotic acoustic probe of claim 1, wherein the end-effector istranslatable relative to the instrument arc.
 11. A robotic acousticsystem for application with an interventional device, the roboticacoustic system comprising: an acoustic probe including an imagingplatform having a device insertion port defining a device insertion portentry and device insertion port exit, and an acoustic transducer arraysupported by the imaging platform and disposed relative the deviceinsertion port exit; and a robotic instrument guide including a basemounted to the imaging platform relative to the device insertion portentry, and an end-effector coupled to the base and transitionablebetween a plurality of poses relative to a remote-center-of-motionwithin, wherein the end-effector defines an interventional device axisextending through device insertion port, and wherein theremote-center-of-motion is located on the interventional device axisadjacent the device insertion port exit; and a robotic instrument guidecontroller structurally configured to control a transition of theend-effector between the plurality of poses relative to theremote-center-of-motion.
 12. The robotic acoustic system of claim 11,wherein the robotic instrument guide controller control of thetransition of the end-effector between the plurality of poses relativeto the remote-center-of-motion includes at least one of: the roboticinstrument guide controller being structurally configured to control arevolution of the end-effector about the remote-center-of-motion; andthe robotic instrument guide controller being structurally configured tocontrol a translation of the end-effector along the interventionaldevice axis.
 13. The robotic acoustic system of claim 11, furthercomprising: an acoustic probe controller structurally configured tocontrol an ultrasound volumetric imaging of an patient anatomy by theacoustic transducer array; and wherein the control by the roboticinstrument guide controller of the transition of the end-effectorbetween the plurality of poses relative to the remote-center-of-motionwithin the robot coordinate is derived from the ultrasound volumetricimaging of the patient anatomy by the acoustic transducer array.
 14. Therobotic acoustic system of claim 11, further comprising: aninterventional imaging system structurally configured to control amodality volumetric imaging of patient anatomy by an imaging modality;an acoustic probe controller structurally configured to control anultrasound volumetric imaging of the patient anatomy by the acoustictransducer array; and wherein the control by the robotic instrumentguide controller of the transition of the end-effector between theplurality of poses relative to the remote-center-of-motion within therobot coordinate is derived from a registration between the modalityvolumetric imaging of patient anatomy by the imaging modality and theultrasound volumetric imaging of the patient anatomy by the acoustictransducer array.
 15. The robotic acoustic system of claim 11, furthercomprising: a position tracking system structurally configured tocontrol a tracking of a robot pose of the end-effector relative to theremote-center-of-motion within a robotic coordinate system; an acousticprobe controller structurally configured to control an ultrasoundvolumetric imaging of the patient anatomy by the acoustic transducerarray; and wherein the control by the robotic instrument guidecontroller of the transition of the end-effector between the pluralityof poses relative to the remote-center-of-motion within the robotcoordinate is derived from the tracking by the position tracking systemof the robot pose of the end-effector relative to theremote-center-of-motion within the robotic coordinate system.
 16. Aninterventional method utilizing a robotic acoustic probe for anapplication with an interventional device, the robotic acoustic probeincluding an acoustic probe including an imaging platform having adevice insertion port defining a device insertion port entry and deviceinsertion port exit, and an acoustic transducer array supported by theimaging platform and disposed relative the device insertion port exit,and a robotic instrument guide including a base mounted to the imagingplatform relative to the device insertion port entry, and anend-effector coupled to the base and transitionable between a pluralityof poses relative to a remote-center-of-motion, wherein the end-effectordefines an interventional device axis extending through device insertionport, and wherein the remote-center-of-motion is located on theinterventional device axis adjacent the device insertion port exit, therobotic acoustic method comprising: positioning the robotic acousticprobe relative to a skin entry point of an patient anatomy, wherein theremote-center-of-motion coincides with the skin entry port; andsubsequent to positioning the robotic acoustic probe relative to theskin entry point of the patient anatomy, at least one of: ultrasoundvolumetric imaging the patient anatomy by the acoustic transducer array;and transitioning the end-effector between the plurality of posesrelative to the remote-center-of-motion.
 17. The robotic acoustic methodof claim 16, wherein the transitioning of the end-effector between theplurality of poses relative to the remote-center-of-motion includes atleast one of: a revolution of the end-effector about theremote-center-of-motion; and a translation of the end-effector along theinterventional device axis.
 18. The robotic acoustic method of claim 16,wherein the transitioning of the end-effector between the plurality ofposes relative to the remote-center-of-motion within the robotcoordinate is derived from the ultrasound volumetric imaging of thepatient anatomy by the acoustic transducer array.
 19. The roboticacoustic method of claim 16, further comprising: a modality volumetricimaging the patient anatomy by an imaging modality, wherein thetransitioning of the end-effector between the plurality of posesrelative to the remote-center-of-motion within the robot coordinate isderived from a registration between the modality volumetric imaging ofpatient anatomy by the imaging modality and the ultrasound volumetricimaging of the patient anatomy by the acoustic transducer array.
 20. Therobotic acoustic method of claim 16, further comprising: tracking arobot pose of the end-effector relative to the remote-center-of-motionwithin a robotic coordinate system, wherein the transitioning of theend-effector between the plurality of poses relative to theremote-center-of-motion within the robot coordinate is derived from thetracking by the position tracking system of the robot pose of theend-effector relative to the remote-center-of-motion within a roboticcoordinate system.